| 11,31 → 11,18 |
|---|
| |
| #define PITCH 0 |
| #define ROLL 1 |
| #define YAW 2 |
| |
| /* |
| * The output BLC throttles can be set in an [0..256[ interval. Some staticParams limits |
| * (min, throttle, max throttle etc) are in a [0..256[ interval. |
| * The calculation of motor throttle values from sensor and control information (basically |
| * flight.c) take place in an [0..1024[ interval for better precision. |
| * This is the conversion factor. |
| * --> Replaced back again by CONTROL_SCALING. Even though the 2 things are not quite the |
| * same, they are unseperable anyway. |
| */ |
| #define MAX_SERVOS 8 |
| |
| // looping params |
| // extern long TurnOver180Nick, TurnOver180Roll; |
| extern int16_t servos[MAX_SERVOS]; |
| |
| // external control |
| // extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
| // extern int16_t naviAccPitch, naviAccRoll, naviCntAcc; |
| typedef enum { |
| FLIGHT_MODE_MANUAL, |
| FLIGHT_MODE_RATE, |
| FLIGHT_MODE_ANGLES |
| } FlightMode_t; |
| |
| // TODO: Rip em up, replace by a flight-state machine. |
| // OK first step: Move to control mixer, where the state machine will be located anyway. |
| // extern volatile uint8_t MKFlags; |
| // extern uint16_t isFlying; |
| |
| #define HH_RANGE ((int32_t)GYRO_DEG_FACTOR_PITCHROLL * 30) |
| |
| void flight_control(void); |
| void transmitMotorThrottleData(void); |
| void flight_setNeutral(void); |